服务机器人智能空间中顶棚投影器建模与外参数标定

研究服务机器人智能空间中顶棚投影器的运动学建模和外参数标定问题.首先,利用D-H方法对投影器进行运动学建模;然后,给出一种全新的求解一类关于旋转矩阵方程组的非线性迭代优化算法,以完成投影器的外参数标定;最后进行了实验验证.实验结果表明,所提出的投影器建模方法和外参数标定算法具有很高的精度,经过标定后的投影器能够在地面上投射出完全按期望路径引导机器人运动的激光斑点,从而实现低成本服务机器人高效和精确地导航.

Research on modeling and extrinsic parameter calibration of ceiling projector in service robot intelligent space

The kinematic modeling and extrinsic parameter calibration problems of the ceiling projector in the service robot intelligent space (SRIS) are investigated. Firstly, the D-H method is used to set up the kinematic model of the projector. Then, according to solving a set of equations of the rotation matrix using a novel nonlinear iterative optimization algorithm, the extrinsic parameter of the projector is calibrated. Finally, some experiments are designed to verify the kinematic model’s correctness and the calibration algorithm’s accuracy. The experimental results show that, the modeled and calibrated projector can project the laser spot moving along a desired path on the ground, with which the navigation tasks for the low-cost service robot can be accomplished efficiently and accurately.